Application of “consecutive compensator” method for robotic manipulator control

The problem of a two-link robotic manipulator control under disturbances and uncertainly known parameters of it´s system is considered in this article. There was proposed a method for adaptive control of the two-link robot manipulator based on the method of consecutive compensator. This article is the extension of results reported earlier, where the efficiency of consecutive compensator method applying was considered in the case of stabilization by output of linear parametrically indeterminate objects such as a simplified model of the manipulator. The offered method contains an adaptive adjustment of coefficients of the consecutive compensator and feedback linearization for decentralized control of each link of the manipulator separately from the other links. It is assumed that robot parameters are uncertainly known and there are external disturbances in the control channel. Dynamic equations of the manipulator were obtained using the Euler-Lagrange method. The proposed control method was also compared with PD controller combined with feedback linearization during the simulations.